Robust controllers for uncertain linear multivariable systems

additive uncertainty feedback controller graph metric perturbations linear multivariable systems multiplicative uncertainty stable factor perturbations

Mathematics Subject Classification ID

Perturbations of ordinary differential equations (34D10) Sensitivity (robustness) (93B35) Linear systems in control theory (93C05) Multivariable systems, multidimensional control systems (93C35) Stabilization of systems by feedback (93D15)

Review text

Three distinct problems in the design of stabilizing controllers for imprecisely known linear multivariable systems are considered. Suppose that P(s) is a true plant transfer matrix and that P(s) is nomially modeled by \(P_ 0(s)\). The first problem is concerned with additive and multiplicative perturbations. In the case of additive uncertainty, P(s) is assumed to satisfy \(\| P(j\omega)-P_ 0(j\omega)\| <| r(j\omega)|\) for all \(\omega\), where r(s) is a prespecified stable rational function, while in the case of multiplicative uncertainty, P(s) is assumed to satisfy \(P(s)=(I+L(s))P_ 0(s)\) where \(\| L(j\omega)\| <| r(j\omega)|\) for all \(\omega\). The second problem deals with stable factor perturbations. \(P_ 0(s)\) is factored as \(N_ 0(s)D_ 0^{-1}(s)\) where \(N_ 0(s)\) and \(D_ 0(s)\) are right coprime stable rational matrices. This class of perturbations consists of all \(P(s)=N(s)D^{-1}(s)\) for some stable rational matrices N(s) and D(s) such that \[ \| \left[ \begin{matrix} N(s)-N_ 0(s)\\ D(s)- D_ 0(s)\end{matrix} \right]\| <| r(s)|,\text{ for all s with Re\((s)>0\)} \] where r(s) is a prespecified stable rational function. The third problem concerns with graph metric perturbations. In this case, P(s) is assumed to satisfy \(d(P(s),P_ 0(s))<r\) where d denotes the graph metric distance and r is a positive real number. The feedback controller C is called robust controller if C stabilizes all plants P(s) within the specified class stated above. The problem of finding such a controller is regarded as a certain \(H_{\infty}\)-norm minimization problem. From this point of view, the paper gives the conditions for the existence of a robustly stabilizing controller C for each of the above three types of plants with uncertainty.

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